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   <div id="projectname">Wally The Sentry Bot
   &#160;<span id="projectnumber">0.2</span>
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   <div id="projectbrief">A silly Arduino project to play with sensors, Xbees and a Peggy 2.0 pegboard</div>
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<table class="memberdecls">
<tr><td colspan="2"><h2><a name="define-members"></a>
Defines</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga45e46be398229acec330371dd6c74c50"></a><!-- doxytag: member="Wally.h::IRpin" ref="ga45e46be398229acec330371dd6c74c50" args="" -->
#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___wally.html#ga45e46be398229acec330371dd6c74c50">IRpin</a>&#160;&#160;&#160;A0</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">analog pin A0 for reading the IR sensor (ORANGE) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga922b133f00a73d6baf4852735be6df91"></a><!-- doxytag: member="Wally.h::LSpin" ref="ga922b133f00a73d6baf4852735be6df91" args="" -->
#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___wally.html#ga922b133f00a73d6baf4852735be6df91">LSpin</a>&#160;&#160;&#160;A1</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">analog pin A1 for reading the line scanner sensor <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga019e754c756db6ed19d15c5c495e7896"></a><!-- doxytag: member="Wally.h::xbeeRX" ref="ga019e754c756db6ed19d15c5c495e7896" args="" -->
#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___wally.html#ga019e754c756db6ed19d15c5c495e7896">xbeeRX</a>&#160;&#160;&#160;2</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">digital pin 2 for Xbee UART receive <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gae0d7ee196d1881dc17583655079ed0ee"></a><!-- doxytag: member="Wally.h::xbeeTX" ref="gae0d7ee196d1881dc17583655079ed0ee" args="" -->
#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___wally.html#gae0d7ee196d1881dc17583655079ed0ee">xbeeTX</a>&#160;&#160;&#160;3</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">digital pin 3 for Xbee UART transmit <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga3ce98078523dbaa5786ecc2439fc0a44"></a><!-- doxytag: member="Wally.h::soundPin" ref="ga3ce98078523dbaa5786ecc2439fc0a44" args="" -->
#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___wally.html#ga3ce98078523dbaa5786ecc2439fc0a44">soundPin</a>&#160;&#160;&#160;4</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">digital pin 4 for reading the sound impact sensor (GRAY) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga42210bf463abb982e0ba7e66e9cf0524"></a><!-- doxytag: member="Wally.h::movementPin" ref="ga42210bf463abb982e0ba7e66e9cf0524" args="" -->
#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___wally.html#ga42210bf463abb982e0ba7e66e9cf0524">movementPin</a>&#160;&#160;&#160;5</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">digital pin 5 for reading the the movement sensor (XXXX WHITE?) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga7c8d9220988a9ffa1bc35ef26c152d7b"></a><!-- doxytag: member="Wally.h::PINGpin" ref="ga7c8d9220988a9ffa1bc35ef26c152d7b" args="" -->
#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___wally.html#ga7c8d9220988a9ffa1bc35ef26c152d7b">PINGpin</a>&#160;&#160;&#160;7</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">digital pin 7 for reading the PING))) sensor (YELLOW) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga58a46f380ee350cbfd6bcf2e028efdbe"></a><!-- doxytag: member="Wally.h::servoPin" ref="ga58a46f380ee350cbfd6bcf2e028efdbe" args="" -->
#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___wally.html#ga58a46f380ee350cbfd6bcf2e028efdbe">servoPin</a>&#160;&#160;&#160;9</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">digital pin 9 for controlling servo position (PURPLE) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga013c3e4a50d0f3f66a295911df3cc0a2"></a><!-- doxytag: member="Wally.h::LSclockPin" ref="ga013c3e4a50d0f3f66a295911df3cc0a2" args="" -->
#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___wally.html#ga013c3e4a50d0f3f66a295911df3cc0a2">LSclockPin</a>&#160;&#160;&#160;10</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">digital pin 10 for controlling the line scanner clock signal (XXXXXXX) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gafdf985a959f5c85d90cda182f3ed7763"></a><!-- doxytag: member="Wally.h::LSsyncPin" ref="gafdf985a959f5c85d90cda182f3ed7763" args="" -->
#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___wally.html#gafdf985a959f5c85d90cda182f3ed7763">LSsyncPin</a>&#160;&#160;&#160;11</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">digital pin 11 for controlling the line scanner sync signal (XXXXXXX) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gad29f66110456ba86205034ad1232fca8"></a><!-- doxytag: member="Wally.h::laserPin" ref="gad29f66110456ba86205034ad1232fca8" args="" -->
#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___wally.html#gad29f66110456ba86205034ad1232fca8">laserPin</a>&#160;&#160;&#160;13</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">digital pin 13 to turn on/off laser (BROWN) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gae56d8a3d3c65c31e0806603c89119c97"></a><!-- doxytag: member="Wally.h::sensorPING" ref="gae56d8a3d3c65c31e0806603c89119c97" args="" -->
#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___wally.html#gae56d8a3d3c65c31e0806603c89119c97">sensorPING</a>&#160;&#160;&#160;0</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">numerical representation of the PING))) sensor from Parallax <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gac9037282369cb98c25e1f5ecabf9fde7"></a><!-- doxytag: member="Wally.h::sensorIR" ref="gac9037282369cb98c25e1f5ecabf9fde7" args="" -->
#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___wally.html#gac9037282369cb98c25e1f5ecabf9fde7">sensorIR</a>&#160;&#160;&#160;1</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">numerical representation of the IR distance sensor from Sharp <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga5693c3de30d9155d123f797cb6799ecb"></a><!-- doxytag: member="Wally.h::servoMaxAngle" ref="ga5693c3de30d9155d123f797cb6799ecb" args="" -->
#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___wally.html#ga5693c3de30d9155d123f797cb6799ecb">servoMaxAngle</a>&#160;&#160;&#160;160</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Max servo angle (physical limitation at about 178) <br/></td></tr>
<tr><td colspan="2"><h2><a name="func-members"></a>
Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___wally.html#gae5ae404da647e93afb3bee73104f5a75">sensorSweep</a> (uint8_t, uint8_t, uint8_t)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Perform a full servo rotation sensor sweep Can perform either an initial sweep to build up template array of distances, or run a normal sweep comparing those distances to the template A movement is defined as a deviation on *both* sensors at the same angle, which typically means we ignore the wider beam and thus earlier reports of the PING))) until the Sharp IR can confirm the find.  <a href="group___wally.html#gae5ae404da647e93afb3bee73104f5a75"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint16_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___wally.html#ga60d6df90f89c52b974d466c7176e9aca">readSensor</a> (uint8_t)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Read sensor and report back distance.  <a href="group___wally.html#ga60d6df90f89c52b974d466c7176e9aca"></a><br/></td></tr>
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